Modular objective assembly with moveable laser beam

ABSTRACT

The present invention provides, in various embodiments, a miniature movable-beam laser objective configured to fit within the very small dimensions of a standard objective. This small, portable movable-laser source allows the beam to be directed at a computer-generated target or at the spot of a focused target-designator beam.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.16/261,322, filed Jan. 29, 2019 and issued Oct. 27, 2020 as U.S. Pat.No. 10,816,786, which claims the benefit of U.S. Provisional ApplicationNo. 62/623,375, filed Jan. 29, 2018, each of which is incorporated byreference herein in its entirety.

BACKGROUND

Infrared lasers have become the method of choice for certain operationsin assisted reproduction technology (ART). The availability of smallinfrared lasers tuned to the absorption bands of water have enabledoperation on embryos and sperm by non-contact, Class I infrared beams.The practice of ART has indicated that near-infrared (e.g., wavelengthof 1450 to 1480 nm) lasers are invaluable in the field. They can beused, for example, for zona pellucida drilling and ablation (severingthe connections between and manipulating biopsy and embryo) and forpolar body extraction, applications to which they have been applied inmost countries. They can also be used for embryonic enucleation and forassisting with nuclear transfer.

SUMMARY

Various embodiments of the invention provide a laser objective assemblyfor use with a microscope that can provide a moveable dichroic mirrorand, thus, a moveable laser beam. In some embodiments, an indicator beammay also be provided within the same device. When the mirror moves, theindicator beam will remain opposed to the laser beam, providing theessential information on the latter's position. When viewed through thecamera system of the microscope, the indicator beam is superimposed onthe microscope image and indicative of the position of the laser whenfired.

In some embodiments, the invention provides a moveable-beam laserobjective assembly for mounting onto a turret of a microscope having acamera, comprising: a modular objective body including an objectivehaving an optical axis; a dichroic mirror located within the objectivebody and positioned at an angle relative to the optical axis, the mirrorconfigured to direct a laser beam through the objective and toward atarget for performing laser microsurgery and configured to direct anindicator beam toward the camera, in a direction opposite to that of thelaser beam, for providing a visible indication of the laser beamposition on the target; a mirror frame on which the mirror is mounted,the mirror frame having a socket to accommodate the mirror andconfigured to be moveable on two axes; a restoring support configured toprovide a restoring force to the mirror frame substantiallyperpendicular to its plane; a kinematic support configured to generateforce against the mirror frame in a direction opposite to that of therestoring force, the kinematic support controllable by a computer; andat least one rod or fiber secured to the objective body, the rod orfiber constructed and arranged to constrain the mirror frame against yawmotion.

In some embodiments, the kinematic support comprises at least one linearactuator, each linear actuator comprising a rod configured to contactthe mirror frame, and a piezoelectric transducer configured to move therespective rod.

In some embodiments, the kinematic support is a three-point supportcomprising two linear actuators and a pin configured to contact themirror frame.

In some embodiments, the objective assembly further comprises twoposition-measuring magnets mounted to the mirror frame and two Halleffect sensors positioned proximal thereto.

In some embodiments, the restoring support comprises one or more magnetsor one or more springs positioned between the mirror frame and theobjective body.

In some embodiments, the restoring support is a magnetic supportcomprising at least three magnets, an upper magnet and a lower magnet,mounted in the objective body and arranged a predetermined distanceapart in mutually repulsive mode; and an intermediate magnet mounted tothe mirror frame, having an upper face attracted by the upper magnet,and a lower face repelled by the lower magnet, so that the space betweenthe upper and lower magnets provides the intermediate magnet with asubstantially constant restoring force.

In some embodiments, the restoring support is a magnetic supportcomprising six magnets.

In some embodiments, the six magnets comprise three on each side of themirror frame, each set of three comprising an upper magnet and a lowermagnet, mounted in the objective body and arranged a predetermineddistance apart in mutually repulsive mode; and an intermediate magnetmounted to the mirror frame, having an upper face attracted by the uppermagnet, and a lower face repelled by the lower magnet, so that the spacebetween the upper and lower magnets provides the intermediate magnetwith a substantially constant restoring force.

In some embodiments, the mirror has a first side for directing the laserbeam and a second side for directing the indicator beam.

In some embodiments, a first side surface of the mirror facing theobjective lens has a reflective coating thereon.

In some embodiments, the coating on the first side surface of the mirroris configured to enhance reflectivity in an infrared wavelength of thelaser beam, and transmit in the visible and ultraviolet.

In some embodiments, a second side surface of the mirror facing thecamera is uncoated or coated with an anti-reflector coating, and theindicator beam is transmitted therethrough and reflected by theunderside of the coating on the first side surface of the mirror.

In some embodiments, the coating on the first side surface of the mirroris configured to preferentially simultaneously reflect both the laserbeam wavelength and the indicator beam wavelength.

In some embodiments, a second side surface of the mirror facing thecamera includes a reflector coating or other reflection enhancingmechanism, and the indicator beam is reflected by the second sidesurface of the mirror.

Additional features and advantages of the present invention aredescribed further below. This summary section is meant merely toillustrate certain features of the invention, and is not meant to limitthe scope of the invention in any way. The failure to discuss a specificfeature or embodiment of the invention, or the inclusion of one or morefeatures in this summary section, should not be construed to limit theinvention as claimed.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing summary, as well as the following detailed description ofthe preferred embodiments of the application, will be better understoodwhen read in conjunction with the appended drawings. For the purposes ofillustrating the systems and methods of the present application, thereare shown in the drawings preferred embodiments. It should beunderstood, however, that the application is not limited to the precisearrangements and instrumentalities shown. In the drawings:

FIG. 1A is a schematic view of an illustrative modular microscopeobjective assembly;

FIG. 1B is side view of the modular microscope objective of FIG. 1Amounted on a microscope turret;

FIG. 2 is a cutaway view of the modular microscope objective of FIG. 1A;

FIG. 3 is a perspective view of the modular microscope objective of FIG.1A, the housing shown in transparency;

FIG. 4 is a perspective view of the modular microscope objective of FIG.1A, shown without the housing;

FIG. 5 is a perspective view of the laser module of FIG. 1A, the lasermodule housing shown in transparency;

FIG. 6 is a perspective view from the opposite side of the laser moduleof FIG. 5;

FIG. 7 is a perspective view of the mounting modular body of FIG. 1Awith slots for receiving the laser module and the indicator module;

FIG. 8 is a schematic left-hand side view of a moveable-beam laserobjective assembly according to some embodiments of the invention, thehousing shown in transparency;

FIG. 9A is a left-hand side view of a moveable-beam laser objectiveassembly according to some embodiments of the invention, shown withoutthe housing;

FIG. 9B shows the moveable-beam objective of FIG. 9A rotated 90° intothe plane around the optic axis to show the indicator module;

FIG. 9C shows the moveable-beam objective of FIG. 9B rotated anadditional 90° to show the right-hand side;

FIG. 9D shows the moveable-beam objective of FIG. 9C rotated anadditional 90° to show the laser module;

FIG. 10 is a top (objective end) view of the moveable-beam objective ofFIGS. 9A-9D;

FIG. 11 is a bottom (camera-facing end) view of the moveable-beamobjective of FIGS. 9A-9D;

FIG. 12 is a perspective view of the mirror frame of FIG. 8;

FIG. 13 is a top view of the mirror frame of FIGS. 9A and 9C;

FIG. 14 is a bottom view of the mirror frame of FIG. 13;

FIG. 15 is a perspective view of a moveable-beam laser objectiveassembly according to some embodiments of the invention;

FIG. 16 is another perspective view of the moveable-beam objective ofFIG. 15;

FIG. 17 is a perspective view of the left-hand side of the moveable-beamobjective of FIG. 15, shown without the housing;

FIG. 18 is a front perspective view of the moveable-beam objective ofFIG. 17, showing the objective end thereof;

FIG. 19 is a front perspective view of the moveable-beam objective ofFIG. 17, showing the camera-facing end thereof;

FIG. 20 is a perspective view of the left-hand side of the moveable-beamobjective of FIG. 17, showing the control board detached from theobjective body;

FIG. 21 is a perspective view of the right-hand side of themoveable-beam objective of FIG. 15, shown without the housing andwithout the control board;

FIG. 22 is a perspective view of a pin and pin holder, according to someembodiments of the invention; and

FIG. 23 is a top view of a mirror frame according to some embodiments ofthe invention.

DETAILED DESCRIPTION

Laser objective assemblies such as LYKOS® and ZILOS-tk® have beendescribed, for example, in U.S. Pat. No. 8,422,128 and U.S. Pat. No.9,335,532, both of which are assigned to Hamilton Thorne, Inc. andincorporated by reference herein in their entirety.

The LYKOS® and ZILOS-tk® normally provide a static, pulsed, focusedinfrared (IR) beam, which is fixed-position in the center of the field.The target (e.g., an embryo or an embryo biopsy) is moved across thebeam focus using manipulators, generally on an inverted microscope. Theposition of the focal spot is indicated by either a computer-generatedtarget image superimposed on the microscope image, or by a visibletargeting beam (also referred to herein as RED-i®; see, e.g., U.S. Pat.No. 8,149,504 and U.S. Pat. No. 8,422,128, both of which are assigned toHamilton Thorne, Inc. and incorporated by reference herein in theirentirety). The laser is fired at selected targets in brief, energeticpulses. In order to irradiate a desired portion the user can set thelaser exactly in the focal spot and fire the laser pulse. In certainapplications a series of laser pulses may be used, in others a singlepulse may be used. For this reason a multi-pulse capability ispreferably included, and for example the extruded biopsy can be cut witha series of single or multiple pulses.

Improved laser objective assemblies, which can provide a moveable beam,are needed in the art.

Embodiments of the present invention provide a miniature movable-beamlaser objective configured to fit within the very small dimensions of astandard objective. This small, portable movable-laser source allows thebeam to be directed at a computer-generated target or at the spot of afocused target-designator (e.g., RED-i®) beam.

The miniaturized mechanism for generating and moving a microscope laserbeam across the field is preferably configured within a compact laserobjective operating generally like the LYKOS®, as shown in FIGS. 1A-Band 2-7 and described in detail in U.S. Pat. No. 8,422,128, which isincorporated by reference herein. Referring to FIG. 1A, which is aschematic illustrating the general operation of the movable-beam laserobjective, a laser assembly/module 500 in housing 600, incorporatedwithin a microscope objective assembly 100 in housing 110, is arrangedto have an epi-illuminating collimated IR laser beam 522 antiparallel tothe optic axis 122. The IR laser beam 522, provided from laser source510 through collimating lens 520 along a first path 524, is reflected bya 45° mirror 530 (with optional coating 532, e.g., an infrared reflectorthat can enhance the reflectivity of infrared laser beam 522 off mirror530) along a second path 534 on to a first side surface 124 a of a 45°dichroic mirror 124 mounted in a mirror frame of the present invention(mirror frame not shown in the schematic of FIG. 1A; see, e.g., FIGS. 8,9A, 9C, 12-14), from which the beam is reflected along a third path 535through the optical system and is focused on the target by the objective120. It is absorbed in the target. A standard visible beam from themicroscope condenser illuminates the target from the other direction andan image of the target is formed by the objective and transmitted to thecamera. The laser light and the image beam therefore travel in oppositedirections.

Simultaneously a collimated LED indicator beam 322 (wavelength typicallyabout 633 nm, although different wavelengths, e.g. 400 to 700 nm, can beused in various applications to provide contrast with the image field),provided from indicator light source 310 through indicator collimatinglens 320 along a first indicator path 324, is generated antiparallel tothe laser beam path 535, and is reflected by an adjustable mirror 330along a second indicator path 334 on to a second (camera-facing) sidesurface 124 b of the dichroic mirror 124 in the mirror frame (mirrorframe not shown in the schematic of FIG. 1A; see, e.g., FIGS. 8, 9A, 9C,12-14), and is reflected at about 90° into a direction opposite to thelaser beam path 535. The LED light provides an indicator of laserlocation on the target, and travels along a third indicator path 335,through a lens 336 and a turret mount 130 on turret 50, to the camera.At the same time, the target image is provided by the microscope system:the red dot from the LED indicator appears superimposed on it, andindicates position of the laser on the target.

In some embodiments, reflection of the light from indicator source 310and/or the light from laser source 510 off the dichroic mirror 124 maybe enhanced by a coating on one or both surfaces thereof. For example,first side surface 124 a can be coated with a layer designed to enhancethe reflectivity in the infrared wavelength of the incident laser beam,and transmit in the visible and ultraviolet. Second side surface 124 bcan include a reflector coating or other reflection enhancing mechanism.Alternatively, second side surface 124 b can be left uncoated or coatedwith an anti-reflector coating, so that reflection of the indicator beamtherefrom is minimized, in which case first side surface 124 a can beused to reflect in opposite directions both the laser beam and theindicator beam. In this alternative embodiment, the indicator beam onpath 334 proceeds through the camera-facing surface 124 b of thedichroic mirror, is reflected internally by the coating on surface 124 aof the dichroic mirror (which faces the objective lens), and istransmitted by surface 124 b in a direction exactly antiparallel tolaser beam path 535. The coating on side 124 a can be designed topreferentially simultaneously reflect both the laser source wavelengthand the indicator source wavelength.

Since the LED indicator light from indicator assembly/module 300 inhousing 400 is reflected off either side 124 a or side 124 b of thedichroic mirror as described above, in both cases the indicator beam 322leaving the dichroic mirror 124 along path 335 will be antiparallel tothe laser beam path 535 reflected from surface 124 a. Therefore, theadjustable mirror 330 may be set to make the indicator beam along path335 coincidental with the image of the target in the camera/eyepiece.The LED image remains coincidental with and appears superimposed on thelaser target despite motion of the dichroic mirror 124, said motionprovided by the present invention as described in detail below.

The modular body 200, shown generally in FIG. 7 with slots 210, 220 forreceiving laser module 500 and indicator module 300, respectively, ispreferably adapted in the present invention to have a slot 823 cut at45° to the optic axis 122 (see FIG. 8), into which the movable dichroicmirror 124 is fitted, supported on its mirror frame 805 as described indetail below.

With reference to FIGS. 8, 9A-D, and 10-14, in some embodiments, thelaser can steered by the internal system of the movable-beam laserobjective 800 as follows.

The laser beam is reflected about 90° off the dichroic mirror 124,toward the target. The dichroic mirror 124 is mounted on the mirrorframe 805 so that it can be moved in two axes, and the laser beam alongpath 535 can be directed at any point on the target.

The dichroic mirror frame 805 is impelled by a restoring force, forexample, up against a pin 808 normal to the mirror surface. In someembodiments, the pin 808 is a static vertex pin, which may form onepoint of a three-point support of the mirror frame 805 (the other twosupports provided by tips of actuator rods 814, 828 as described below).A cup 809 may be provided on the mirror frame 805 into which the pin 808is configured to fit. In some embodiments, cup 809 may comprise amachined, sapphire cone pivot hole at the apex of the mirror frame 805.

The restoring force can be provided, for example, by springs, one ormore magnets, or other restoring means, for example, attached betweenthe mirror frame 805 and the objective body. In some embodiments, therestoring force is provided by six right cylinder magnets (e.g., 1.5 mmdiameter, 1.5 mm height), three on each side of the mirror frame 805,arranged as described below.

The first magnet 810 is mounted in the objective body, and attracts thesecond magnet 811, which is mounted at the periphery of the mirror frame805, thus forcing mirror frame 805 upwards.

The upper face of the second magnet 811, mounted in the mirror frame805, is attracted to the lower face of the first magnet 810.

The third magnet 812 is mounted approximately coaxial with the firstmagnet 810 and the second magnet 811, opposite the first magnet 810 inthe objective body beneath the dichroic mirror 124. The third magnet 812is set to repel the lower face of the second magnet 811. It thereforealso repels the lower face of the first magnet 810.

The magnetic forces therefore combine to float the mirror frame 805between the first magnet 810 and the third magnet 812, forcing mirrorframe 805 upwards towards the first magnet 810. The mutually repellingfirst magnet 810 and third magnet 812 provide a space for the secondmagnet 811 to move in, in which the force on the second magnet 811 isalmost constant over a range of positions of the second magnet 811intermediate between the first and third magnets 810 and 812. Thereforethis arrangement provides a quasi-uniform restoring force on the secondmagnet 811, and therefore on the left-hand side of the mirror frame 805.

On the opposite (right-hand) side of the mirror frame 805, the fourth,fifth, and sixth magnets 824, 825, and 826, are arranged symmetricallyto the magnets 810, 811, 812 on the left-hand side of the mirror frame805, respectively, so that the right-hand side of the mirror frame 805floats because of the attraction of the fifth magnet 825 to the fourthmagnet 824 and the repulsion between the fifth magnet 825 and the sixthmagnet 826. The fifth magnet 825 is embedded in the mirror frame 805 onthe opposite side to the second magnet 811.

The quasi-uniform restoring force of this arrangement improves thereproducibility of the piezoelectric positioning of the mirror frame 805(described in detail below) by maintaining a more constant force balancerequirement from the piezoelectric actuators and increases theireffective operating range given their limited ability to supply anopposing force for mirror frame positioning.

The mirror frame 805 therefore experiences a magnetic restoring forcefrom both the left-hand and the right-hand sides, pushing it upwards,normal to the mirror surface, against the pin 808.

Two adjustable piezoelectric actuators 880, 890 are provided, one oneach side the objective 800, each having a rod 814, 828, which can beextended or retracted. Each of the actuators 880, 890 is a linearmachine and may comprise, for example, a body 813, 827; a rod 814, 828;a transducer 829, 830; and a holder 831, 832. The body 813, 827 is inertand does not move, but supports the rest of the system. The rod 814, 828moves with the transducer 829, 830 at the end of the rod attached to therod. The transducer 829, 830 is a piezoelectric drive that sendsvibrations down the respective rod 814, 828. A copper or brass holder831, 832 holds the respective rod 814, 828 in such a way that, whenvibrated by the attached transducer, the rod moves along the body 813,827. The transducer 829, 830 contains wires (not shown) that power thepiezoelectric oscillator inside it. By varying the oscillations of thetransducers 829, 830, the rods 814, 828 can be made to go down or up.This provides force on the mirror frame 805 and moves it, therebychanging the angle of the mirror 124, moving the laser beam path 535 andthe opposed indicator (e.g., RED-i®) beam path 335.

The rods 814, 828 are constructed and arranged to press downward on thecorner seating planes 820, 821 on the top surface of the mirror frame805. These rods 814, 828 may vary in composition and/or size, but in thepresent embodiment are carbon fiber composites with dimensions ofapproximately 1.2 cm in length and approximately 1 mm in diameter, allproviding forces exerting downward pressure on the mirror frame 805approximately normal to its plane, against which the restoring magnets810, 811, 812 on the left and the symmetrical magnets 824, 825, 826 onthe right provide an upwards restoring force. By varying the verticalposition of these rods 814, 828 piezoelectrically, the user can move themirror frame 805 into the plane desired, and thereby arrange to scan thetarget with the laser beam reflected from the dichroic mirror 124.

In some embodiments, a short rod 815 (e.g., carbon, brass or aluminum)is attached at one end to the objective body (see FIG. 8) and fits intoa specially-shaped slot 816 on the left-hand side of the mirror frame805 (see FIG. 12). It is designed to prevent yaw in the mirror frame805, which slides freely past it in the direction normal to the mirrorframe 805, but is constrained against lateral (yaw) motion.

In other embodiments, different mechanisms may be used to prevent yaw(sideways motion of the mirror frame 805; i.e., movement in the plane ofthe mirror frame 805).

For example, with reference to FIGS. 9A, 9C, and 13, in someembodiments, the constraint against yaw motion is provided by mounting athin carbon fiber 833, 834 (e.g., about 0.5 mm in diameter) on each sideof the objective body, each fiber attached to the objective body usingadhesive or a screw retainer, and directed across the respectivetransverse slot 835, 836. This carbon fiber 833, 834 provides a barrieragainst which the mirror frame 805 slides up and down as the laser beamdirection 535 is changed. The function of the carbon fiber 833, 834 isto prevent the mirror frame 805 moving along the slot axis in thedirection normal to the optic axis (yaw motion). The carbon fiber 833,834 can, for example, be attached by glue drops (shown as two circles inFIGS. 9A and 9C). The carbon fibers (or the alternative steel rodsdescribed below) have elastic properties that are useful to provide aforce so that the mirror frame 805 is kept in its central position anddoes not yaw, and/or to allow some shock absorption if the moveable-beamlaser objective 800 is suddenly accelerated (e.g., struck or dropped).

In further embodiments, two carbon fibers can be provided on each sideof the mirror frame 805, covering both open ends of each slot 835, 836.The first fiber can be mounted at one end of the slot and the secondfiber can be mounted at the opposite end of the slot, constraining themirror frame from moving in the opposite direction parallel to the slotaxis normal to the optic axis. The two fibers can be symmetricallyplaced on either end of the respective transverse slot 835, 836, keepingthe mirror frame 805 within the slot 835, 836 but free to move towardsone side or the other of the slot, thereby changing the angle of themirror 124 held in the mirror frame 805 and changing the direction ofthe light reflected from it.

In the embodiments above, (stainless) steel rods may be used in place ofthe carbon fibers to prevent yaw. In some embodiments, stainless steelrods having a diameter of about 1 mm may be used in place of the carbonfibers described above.

In some embodiments, an additional slot or small trench may be builtinto the foot of the mirror frame 805 on each side, into which the endof the actuator rod 814, 828 fits. The additional slot/trench in themirror frame 805 prevents sideways motion (yaw) since the mirror frame805 cannot move the rod 814, 828 out of the trench, which thereforeprevents yaw.

Control of the mirror frame 805 is provided by the two small linearpiezoelectric actuators 880, 890, attached to the objective body, whichgenerate force against the mirror frame 805 in a direction opposite tothe restoring force and which form two of the three-point kinematicsupports (the third being the pin 808) that set the angular position ofthe beam mirror 124. The distance moved by the actuator rods 814, 828,forward or backward, is determined by a voltage pulse format and pulselength under computer control. These actuators 880, 890 thereforeprovide the freedom to move the IR laser and its RED-i® indicator acrossthe entire target field.

In some embodiments, the orientation of the mirror frame 805 is derivedin two ways, as described below.

1. Magnetic Location

Mirror frame 805 orientation may be determined by using two furthermagnets 817, 818 mounted on the mirror frame 805 preferably centered onthe corner rod seats 820, 821 (on which the piezoelectric actuator rods814, 828 press), or on the line between the corner rod seats 820, 821and the suspension pin socket 809. Directly beneath these magnets 817,818 two symmetrically placed Hall Effect sensors 819, 837 are mounted onthe objective body. As the mirror frame 805 moves on its two axes, thefields at the two Hall sensors 819, 837 give a measure of the mirrorframe 805 orientation. The Hall sensors 819, 837, the outputs of whichmay be provided to the control computer, provide a rapid determinationof distance from mirror frame Hall magnet 817 to Hall sensor 819 on theleft-hand side, and analogously Hall magnet 818 to Hall sensor 837 onthe right-hand side, and enable quick computation of mirror frame 805orientation, and how to reach the designated destination.

2. RED-i® Finder Location

Mirror frame 805 orientation can also be determined by the position ofthe red finder LED dot on the image of the target. Dot position can belocated by identification of the (usually red) dot and deriving itscentroid coordinates by image analysis. Mirror frame 805 orientation canbe rapidly obtained from those coordinates.

In some embodiments, the piezoelectric linear actuators 880, 890 areplaced directly above the centers of position-measuring magnets 817, 818respectively, or directly on the axis between the cup 809 and thepiezoelectric actuator rod 814, 828 tip pressing on the mirror frame 805at corners 820, 821.

The moveable-beam objective combines piezoelectric linear actuators 880,890 to position the mirror frame 805, and Hall sensors 819, 837 todetermine its angular orientation. In general the piezoelectricactuator's positional response to control pulses will vary depending onthe individual actuator and on the force it is required to apply toachieve the desired mirror frame 805 position. In some embodiments,pulses provided to an actuator motor in a duty cycle, for example, of ¾on, ¼ off may provide an upward/backward movement, while the opposite (¼off, 3/4 on) may provide a downward/forward movement. The length of thepulse determines how far the rods 814, 828 move. The Hall sensors 819,837 may also respond slightly differently to the local field strength ofthe positioning magnets 810, 811, 812 and 824, 825, 826 on the mirrorframe 805. For each 2D position of the mirror frame 805 (and thusposition of the laser focus on the target) there will be a corresponding2D response from the Hall sensors 819, 837. A feedback loop programmedin the control computer can be used to control the piezoelectricactuators 880, 890 to reach a specific 2D position as determined by theHall sensors 819, 837. A calibration may be performed by the controlcomputer to map the 2D angular position of the mirror frame 805 (asdetermined directly by image analysis of the RED-i® spot on a camera) tothe corresponding 2D coordinates measured by the Hall sensors 819, 837to be used as inputs to the actuator feedback loop.

Calibration is preferably automated and provided by control computersoftware analysis of the positional record. The orientation of themirror frame 805 is put through N positions (where N is determined bymeasurement; e.g., 10<N<2000). In each position the two Hall Effectsignals and the two coordinates of the single RED-i® finder dot aredetermined and stored.

The relationship between the Hall values and the RED-i® position isderived and a predictive model generated. Preferably, this occurs at setintervals to ensure that calibration has not changed. In someembodiments, the automated calibration may take place every morningbefore use. In other embodiments it may occur dynamically in real timewhen the laser is used.

In some embodiments, Hall sensors 819, 837 can be used to provide amagnetic map of the field of view, where the magnetic field at each ofthe Hall sensors 819, 837 is known for all positions (x, y) of theRED-i® indicator beam, and a predictive correlation of required magneticfield on Hall sensors 819, 837 can be derived for any given (x, y)position. In some embodiments, a program code is provided, whichautomatically runs an algorithm to generate the magnetic map, bydetermining the position of the RED-i® dot on the screen and correlatingit with the magnetic field measurements directly. This algorithm can beperformed at an initial time or at any time required. The controlcomputer may thus be configured to measure a position of the indicatorbeam in Cartesian coordinates; to measure signals from the Hall sensorswhile the indicator beam is at the measured position; and to correlatethe coordinates with the signals for a plurality of indicator beampositions, thereby generating a magnetic map of the field of view.

In some embodiments, one or more artificial intelligence (AI) modulesand/or one or more optimization algorithms may be used to learn andpredict the location of the laser beam on the target.

FIGS. 15-21 show a moveable-beam laser objective assembly 800 accordingto certain illustrative embodiments of the invention. FIGS. 15 and 16show a perspective view a moveable-beam objective 800 within theobjective housing 110. Objective 120 is at the upper end of theassembly, in the orientation shown in FIGS. 15-21. Holding screws 838,839 may be provided (e.g., on opposite sides) for securing the cover 110over the assembly 800. An input connector 840 may be provided (e.g.,micro HDMI). Apertures 841, 842 are provided for indicator (e.g.,RED-i®) mirror 330 adjustment screws 851, 852 (see FIG. 19).

FIG. 17 shows the left-hand side of the moveable-beam objective of FIG.16, with housing 110 removed. Laser assembly/module 500 is at the leftin this view (along with laser cables 843), and indicatorassembly/module 300 is at the right (along with RED-i® cables 845). Aflexible control board 846 is wrapped around three sides of theobjective 800 (e.g., covering some of the features shown in the diagramof FIG. 9A). The piezo head 829, body 813, and cable 844 of linearactuator 880 are shown, as is Hall detector 819.

FIG. 18 is a front perspective view of the moveable-beam objective ofFIG. 17, showing the objective end thereof. Indicator module 300 is atthe front in this view; actuator 880 and corresponding holding screws847, 848 are at the left; and actuator 890 and corresponding holdingscrews 849, 850 are at the left. FIG. 19 is also a front perspectiveview of the moveable-beam objective of FIG. 17, showing thecamera-facing end thereof. As indicated in FIG. 19, flexible controlboard 846 is wrapped around this front side as well (over RED-i®“bullet” 300), and indicator mirror 330 adjustment screws 851, 852 arevisible, along with support screws 853, 854 for Hall sensors 819, 837,respectively.

FIG. 20 is a perspective view of the left-hand side of the moveable-beamobjective of FIG. 17, showing the control board 846 detached from theobjective body. On the left-hand side of the control board 846 (at topin the view of FIG. 20), Hall sensor 819 is visible, along with actuatorhead 829 and body 813, and connector 840. On the right-hand side of thecontrol board 846 (at bottom in the view of FIG. 20), Hall sensor 837 isvisible, along with actuator head 830 and body 827.

FIG. 21 shows the right-hand side of the moveable-beam objective of FIG.15, with the housing 110 and the control board 846 removed. Laser module500 is at the right in this view along with laser cables 843. Mirrorframe 805 is shown in slot 823, with Hall magnet 818 and restoring forcemagnets 824, 825, 826. A holder 857 is shown for anti-yaw rod 834. Hallinset screw 854, Hall support 858, and actuator support 859, areprovided on the objective body on the both the left-hand and theright-hand sides. An RMS thread 855 is provided on the camera-facing endof the objective (e.g., as part of turret mount 130). A pin holder 856is provided, which can hold a pin 808 (fixed thereto or formed togetheras a single part). FIG. 22 is a perspective view of a pin 808 and pinholder 856, according to some embodiments of the invention.

FIG. 23 is a top view of a moveable mirror frame 805 according to someembodiments of the invention, resting on a mirror frame loading fixture862. Intermediate magnets 811, 825 are mounted on either side of theframe 805, and a sapphire socket 809 is provided at the upper center. Inthe lower corners, Hall sockets 860, 861 are provided for magnets 817,818 (not shown) and ledges 820, 821 are provided as touchpoints forlinear actuators 880, 890 (not shown). Dichroic socket 863 is providedin the center of the frame 805 to accommodate dichroic mirror 124 (notshown).

While there have been shown and described fundamental novel features ofthe invention as applied to the preferred and exemplary embodimentsthereof, it will be understood that omissions and substitutions andchanges in the form and details of the disclosed invention may be madeby those skilled in the art without departing from the spirit of theinvention. Moreover, as is readily apparent, numerous modifications andchanges may readily occur to those skilled in the art. For example, anyfeature(s) in one or more embodiments may be applicable and combinedwith one or more other embodiments. Hence, it is not desired to limitthe invention to the exact construction and operation shown anddescribed and, accordingly, all suitable modification equivalents may beresorted to falling within the scope of the invention as claimed. It isthe intention, therefore, to be limited only as indicated by the scopeof the claims appended hereto.

What is claimed is:
 1. A moveable-beam laser objective assembly formounting onto a turret of a microscope having a camera, comprising: amodular objective body including an objective having an optical axis; adichroic mirror located within the objective body and positioned at anangle relative to the optical axis, the mirror configured to direct alaser beam through the objective and toward a target for performinglaser microsurgery and configured to direct an indicator beam toward thecamera, in a direction opposite to that of the laser beam, for providinga visible indication of the laser beam position on the target; a mirrorframe on which the mirror is mounted, the mirror frame having a socketto accommodate the mirror and configured to be moveable on two axes; arestoring support configured to provide a restoring force to the mirrorframe substantially perpendicular to its plane; a kinematic supportconfigured to generate force against the mirror frame in a directionopposite to that of the restoring force, the kinematic supportcontrollable by a computer; and at least one rod or fiber secured to theobjective body, the rod or fiber constructed and arranged to constrainthe mirror frame against yaw motion.
 2. The objective assembly of claim1, wherein the kinematic support comprises at least one linear actuator,each linear actuator comprising a rod configured to contact the mirrorframe, and a piezoelectric transducer configured to move the respectiverod.
 3. The objective assembly of claim 2, wherein the kinematic supportis a three-point support comprising two linear actuators and a pinconfigured to contact the mirror frame.
 4. The objective assembly ofclaim 1, further comprising two position-measuring magnets mounted tothe mirror frame and two Hall effect sensors positioned proximalthereto.
 5. The objective assembly of claim 1, wherein the restoringsupport comprises one or more magnets or one or more springs positionedbetween the mirror frame and the objective body.
 6. The objectiveassembly of claim 1, wherein the restoring support is a magnetic supportcomprising at least three magnets, an upper magnet and a lower magnet,mounted in the objective body and arranged a predetermined distanceapart in mutually repulsive mode; and an intermediate magnet mounted tothe mirror frame, having an upper face attracted by the upper magnet,and a lower face repelled by the lower magnet, so that the space betweenthe upper and lower magnets provides the intermediate magnet with asubstantially constant restoring force.
 7. The objective assembly ofclaim 1, wherein the restoring support is a magnetic support comprisingsix magnets.
 8. The objective assembly of claim 7, wherein the sixmagnets comprise three on each side of the mirror frame, each set ofthree comprising an upper magnet and a lower magnet, mounted in theobjective body and arranged a predetermined distance apart in mutuallyrepulsive mode; and an intermediate magnet mounted to the mirror frame,having an upper face attracted by the upper magnet, and a lower facerepelled by the lower magnet, so that the space between the upper andlower magnets provides the intermediate magnet with a substantiallyconstant restoring force.
 9. The objective assembly of claim 1, themirror having a first side for directing the laser beam and a secondside for directing the indicator beam.
 10. The objective assembly ofclaim 1, wherein a first side surface of the mirror facing the objectivelens has a reflective coating thereon.
 11. The objective assembly ofclaim 10, wherein the coating on the first side surface of the mirror isconfigured to enhance reflectivity in an infrared wavelength of thelaser beam, and transmit in the visible and ultraviolet.
 12. Theobjective assembly of claim 10, wherein a second side surface of themirror facing the camera is uncoated or coated with an anti-reflectorcoating, and the indicator beam is transmitted therethrough andreflected by the underside of the coating on the first side surface ofthe mirror.
 13. The objective assembly of claim 12, wherein the coatingon the first side surface of the mirror is configured to preferentiallysimultaneously reflect both the laser beam wavelength and the indicatorbeam wavelength.
 14. The objective assembly of claim 10, wherein asecond side surface of the mirror facing the camera includes a reflectorcoating or other reflection enhancing mechanism, and the indicator beamis reflected by the second side surface of the mirror.